Abstract
We were able to detect the step initiation for the Unmanned Technology Research Center Exoskeleton before visible movements occurred during the peak time approach. Detection of the step initiation is important for the rapid onset of assistance with the exoskeleton operator’s movement. Many previous studies have attempted to detect the step initiation more rapidly using the precedence walking assistance mechanism with electromyography, or the shadow walking assistance mechanism with the heel-off or toe-off time. In this paper, we detect the step initiation and implement the precedence walking assistance mechanism using the peak time approach. In particular, we detect the vertical ground reaction forces before visible movements occur, which is more reliable, simpler and faster than the previous approaches. We also present insole-type force sensing resistors based on the peak time approach that are used in force plates that can be applied to the Unmanned Technology Research Center Exoskeleton to detect similar events, such as the ground reaction force events, and the step initiation. With the insole-type force sensing resistors, the Unmanned Technology Research Center Exoskeleton can not only detect step initiation before visible movements occur, but can also implement the precedence walking assistance mechanism for step initiation without using any bio-signals.
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Dowan Cha received his B.A. in Management from Korea Military Academy in 2002. He received his MSc. degree in Computer Science from the University of Wales, UK in 2006 and another MSc. Degree in Artificial Intelligence from the University of Wales, UK in 2007. He received his Ph.D. in Mechanical Engineering from KAIST in 2014. His research interests include exoskeletons, detection of human movement intention, biomechanics, human-robot interfaces and learning algorithm. He received the Best Session Paper Award from the ICMERA international conference held in Romania, in 2012 and received the Best Achievement Award from Brain Korea (BK) 21 in 2013.
Hyung-Tae Seo received his B.E. and M.E. degrees in Mechanical Engineering from KAIST, in 2011, and 2013 respectively. He is currently working toward his Ph.D. at KAIST. His research interests include digital system design for controlled mechatronics and control theories, such as disturbance observer.
Sung Nam Oh received his B.E. and M.E. degrees in Electrical Engineering from Myong Ji University, in 2002, and 2004, respectively. He is currently working toward a Ph.D. at Myong Ji University. His research interests include exoskeletons, and humanoid robots.
Jungsan Jo received his B.S. and M.S. degrees in Electrical Engineering from Kumoh National Institute of Technology (KIT), Korea, in 2002 and 2004, respectively. In 2011, he joined the Department of Robotics, Korea Institute of Industrial Technology (KITECH), Korea, as a Researcher. He is currently working toward a Ph.D. at Myong Ji University. His research interests include the areas of Hydraulic Robotics, especially in Quadruped, Manipulation and Hydraulic Control.
Kab Il Kim received his B.S. in Electrical Engineering from Seoul National University in 1979. He received an M.S. degree in Electrical Engineering from KAIST in 1981 and a Ph.D. in Electrical Engineering from Clemson University in 1990. He was a full time instructor in Korea Military Academy from 1981 to 1985, and now is currently working in Myong Ji University since 1991. He was a research fellow at the Ohio State University in 1997, and Tsinghwa University from 1996 to 2003. His research interests include humanoids, exoskeletons, and control of robots. He received the Merit Award in 2011 and the YHS Academic Award in 2012 from Korea Institute of Electrical Engineering (KIEE).
Kyung-Soo Kim received his B.S., M.S., and Ph.D. degrees in Mechanical Engineering from KAIST, in 1993, 1995, and 1999, respectively. He was Chief Researcher with LG Electronics, Inc., from 1999 to 2003 and a DVD Group Manager with STMicroelectronics Company Ltd., from 2003 to 2005. In 2005, he joined the Department of Mechanical Engineering, Korea Polytechnic University, as a Faculty Member. Since 2007, he has been with the Department of Mechanical Engineering at KAIST. He serves as Associate Editor for Automatica and Journal of Mechanical Science and Technology. His research interests include control theory, sensor and actuator design and robot manipulator design.
Soohyun Kim received his B.S. from Seoul National University in 1978, and an M.S. from KAIST in 1980 in Mechanical Engineering. He received his Ph.D. in Mechanical Engineering from the Imperial College of Science, Technology and Medicine, University of London, the UK, in 1991. He worked for Korea Military Academy as a Senior Lecturer at the Department of Ordinance Engineering from 1980 to 1984, and for the Korea Institute of Technology at the School of Mechanical Engineering from 1984 to 1988. After his Ph.D., he joined the Faculty of the Department of Mechanical Engineering at KAIST in 1991. His research interests include robots, micro/nano actuators, sensors, and manipulators.
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Cha, D., Seo, HT., Oh, S.N. et al. Verification of the peak time approach for detection of step initiation using the UTRCEXO. Int. J. Control Autom. Syst. 12, 1070–1076 (2014). https://doi.org/10.1007/s12555-013-0231-5
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DOI: https://doi.org/10.1007/s12555-013-0231-5